CN2847224Y

CN2847224Y - Intelligent detector for cliff and wall and its robot

Info

Publication number: CN2847224Y
Application number: CN 200520060534
Authority: CN
Inventors: 王冬雷
Original assignee: Individual
Current assignee: Individual
Priority date: 2005-06-22
Filing date: 2005-06-22
Publication date: 2006-12-13
Anticipated expiration: 2015-06-22

Abstract

The utility model relates to an intelligent cliff and wall detecting device and a robot thereof, which comprises a sensor. The utility model is characterized in that the sensor is arranged angularly, or the transmit and receive of the sensor can be led to cross at certain angles by using a positioning hole plate, or a reflecting device or a refracting device, so the height range of the cliff to the distance range of the wall which can be identified are determined. The sensor adopts infrared sensing or ultrasonic sensing and comprises a transmit head and a receive head. In addition, the sensor can be used in pairs, the positioning hole plate is arranged on the sensor and is acted as an affiliated device, and a piece of baffle plate which can block sensor signals can be adopted as the positioning hole plate which is provided with one or more than one hole on the upper side. The reflecting device can reflect the sensor signals, and a control device belongs to a circuit which can receive the sensor signals and do some responses.

Description

A kind of intelligent steep cliff and wall pick-up unit and robot thereof

Affiliated technical field

The utility model relates to a kind of intelligent steep cliff and wall pick-up unit and robot thereof.

Background technology

Development along with Robotics, various finishing occurring and just use from walking robot being increasing of certain operation, even enter into general family, replace people to finish certain routine work, in being exactly process in operation, the most basic function of walking robot can avoid obstacle and steep cliff, be applied to from the steep cliff and the wall detection method of walking robot at present or be that the scope that detects is fixing, performance is unreliable, to the environmental factor sensitivity, be difficult to control, be the cost height, the computing complexity is unfavorable for popularizing of product.

The utility model content

The utility model relates to a kind of intelligent steep cliff and wall pick-up unit and robot thereof.Its low cost, easy to control and performance is very reliable.

A kind of intelligent steep cliff and wall pick-up unit, comprise sensor, it is crossing to it is characterized in that angled installation of described sensor or utilization location orifice plate or reflection unit or refracting means have a certain degree transmitting and receiving of sensor, thereby has determined steep cliff altitude range that device is discerned and the distance range that arrives wall.

Described sensor is infrared sensor or ultrasonic sensing, comprises emitting head and receives head.

Described sensor is to use in pairs.

Described sensor has been set up the location orifice plate, and the location orifice plate is the baffle plate of a sensor signal capable of blocking, has opened one or more hole above.

Described reflection unit reflective sensor signal, but described reflection unit is reflected infrared or hyperacoustic reflecting plate more than one or, described refracting prisms are meant more than one or one can reflect ultrared prism, and described control device is meant the circuit of can sensor-lodging and making a response.

In a robot, location orifice plate or reflection unit or refracting means are used singly or in combination.

The robot that has above-mentioned intelligent steep cliff and wall pick-up unit, it is characterized in that described machine artificial a kind of can be toy from the robot of walking, domestic robot or have other function from walking robot.

Control circuit of the present utility model adopts prior art.

Description of drawings

Fig. 1 is a schematic diagram of the present utility model.

Fig. 2 is the variation synoptic diagram of effective reception of this sensor or reflected range.

Fig. 3 is to use the synoptic diagram of location orifice plate.

Fig. 4 is to use the synoptic diagram of catoptron.

Embodiment

Be example with the steep cliff detection below, specifically set forth the utility model.

As shown in Figure 3, the signal that a sensor emission 1a sends is by after locating orifice plate 2, only the signal in aperture 2a can pass through, same signal is after being reflected, also having only light (ultrasound wave) by aperture 2b just can be received a 1b receives, so just, determined one by the area L of A to B, promptly have only when ground is in area L, receive head and can receive the signal that emitting head sends, thereby determined the steep cliff height that robot allowed, by changing the size and location apart from S and two aperture 2a and 2b of location orifice plate 2 to sensor, but the just height of adjustment region L, be that floor level is during from A to B as shown in Figure 2, the top view of sensor emission and receiving area, as seen from the figure, when ground is positioned at A point top and B point below, transmit and receive and do not overlap the zone, receive head and do not receive the signal that emitting head sends.

When control system does not receive signal at the reception head, assert that machine runs into steep cliff, the control machine is made and is dodged reaction accordingly.

Fig. 4 is the synoptic diagram of location orifice plate when being changed to catoptron, and Fig. 1 is directly the synoptic diagram of the angled installation of pair of sensors, and concrete principle and method are same as above.It is crossing promptly to allow the search coverage that transmits and receives sensor have a certain degree, and utilizes the zone of intersecting to determine investigative range.Same use prism also is a principle of uniformity.

Equally, present principles and method also are identical to the detection of wall, just the sensor position difference of installing.

Control device is meant the circuit of can sensor-lodging and making a response, and control circuit of the present utility model adopts prior art.

In sum, the utility model is the angled installation of sensor or has used orifice plate or reflection unit or refracting means cleverly and make the signal of sensor have a certain degree crossing, the altitude range of steep cliff and the robot distance range to wall has been determined in their coincidence zone, control and highly stable easily when utilization like this, reliably, avoided because the harsh requirement that different states of ground (smoothness, color etc.) or wall situation propose sensor.

Claims

1, a kind of intelligent steep cliff and wall pick-up unit, comprise sensor, it is characterized in that the angled installation of described sensor or utilize location orifice plate or reflection unit or refracting means to make that transmitting and receiving of sensor is angled intersects, to determine steep cliff altitude range that device is discerned and to the distance range of wall.

2, a kind of intelligent steep cliff according to claim 1 and wall pick-up unit is characterized in that described sensor is infrared sensor or ultrasonic sensing, comprise emitting head and receive head.

3, a kind of intelligent steep cliff according to claim 1 and wall pick-up unit is characterized in that described sensor is to use in pairs.

4, a kind of intelligent steep cliff according to claim 1 and wall pick-up unit is characterized in that described sensor set up the location orifice plate, and the location orifice plate is the baffle plate of a sensor signal capable of blocking, has opened one or more hole above.

5, a kind of intelligent steep cliff according to claim 1 and wall pick-up unit, it is characterized in that described reflection unit reflective sensor signal, but described reflection unit is reflected infrared or hyperacoustic reflecting plate more than one or, described refracting prisms are meant more than one or one can reflect ultrared prism, and described control device is meant the circuit of can sensor-lodging and making a response.

6, have the robot of claim 1 or 2 or 3 or 4 or 5 described a kind of intelligent steep cliffs and wall pick-up unit, it is characterized in that in a robot, location orifice plate or reflection unit or refracting means are provided with alone or in combination.

7, robot according to claim 6 is characterized in that artificial a kind of robot of walking certainly of described machine, can be toy, domestic robot.